| To collect, control and act in realtime is the dramatic feature of small size soccer robot .In order to well accomplish the actions task, the robot is required to respond quickly and move agilely. Therefore, the study on kinemic and dynamic performance becomes very important and is the basic part of design of the body. The study work makes great sense for both the design and the control of the vehicle.The omnidirectinal wheel can efficiently avoid no-holonomic constraint caused by common used wheels uable to move sideways. It's thus capable to move staightly in any direction and the path may keep the shortest. Therefore, this kind of robot becomes the developing trend of the F180 soccer robot. However, when the wheels drive the body in line, it will be result in great waste and the force of each wheel needs to be optimized. The main research jobs of this paper are shown as follows.(1) Expatiates status in quo of the F180 soccer robot home and abroad, and establishes the target and request of this paper.(2) Compares some kinds of omnidirectional wheels. Based on this comparison, the new SIR (single inline roller) wheel for use is eventually designed.(3) Establishes the kinematic and dynamic model of three wheel and four wheel omnidirectional robot, compares both the max velocity and max acceleration properties of the robot, and these theories are helpful to select three-wheel or four-wheel robot.(4) Based on the study of three-wheel and four-wheel robot, the N-dimension kinemic and dynamic model is established. Optimizes the force of each wheel with the method of SQP. Analyzes the cooperation of wheels and gets the characteristics of the least force on each wheel with the angle of the wheel axes. These theories provide references for better control.(5) Establishes the Fuzzy Optimum Seeking model, and gets the layout deciding-making from the analysis of the results.(6) Analyzes influences on motion performance of the body caused by the errors of structural parameters. |
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